CN105892322B - A kind of intelligent controller and automatic setting method - Google Patents
A kind of intelligent controller and automatic setting method Download PDFInfo
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- CN105892322B CN105892322B CN201610315546.5A CN201610315546A CN105892322B CN 105892322 B CN105892322 B CN 105892322B CN 201610315546 A CN201610315546 A CN 201610315546A CN 105892322 B CN105892322 B CN 105892322B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
Abstract
The invention discloses a kind of automatic setting methods of intelligent controller, and deviation is arranged in the lower section of control targe value SV（SV-m）, with system output wave during preventing Self-tuning System in desired value SV or deviation（SV-m）Neighbouring concussion, and systematic sampling value PV is more than desired value SV, just stop the excitation to control object to apply, ensure that system output wave can reach control targe value SV always, the pid control parameter that controller calculates is more acurrate, another automatic setting method, no matter system initial state, it is first to acquire working condition signal, further according to collection value PV and deviation（SV-m）Comparison, judgement determine whether to control object apply encourage, i.e., its operating mode judge prior to control output, effectively prevent the appearance of overshoot condition, avoid the generation of industrial accident.
Description
Technical field
The present invention relates to the automation control area of industrial process, a kind of intelligent controller and Self-tuning System side are particularly related to
Method.
Background technology
Common industrial control unit (ICU) is mainly used for realizing the control of industrial signal such as temperature, pressure, liquid level, flow etc..Control
When, controller by the deviation size of collection value and the desired value of setting by substituting into control parameter such as proportional band（P）, the time of integration
（I）, derivative time（D）, output control signal is calculated, and it is conveyed to executing agency in real time, finally makes industrial signal
It is constant in control targe value.In Industry Control, because control object is various, operating mode is complicated, control parameter be difficult to the when of obtaining anxious,
Accurately adjustment, conventional practice often needs operative employee on the basis of well understanding control parameter meaning, with its enough commissioning experience
Test is constantly adjusted, just acquisition signal constant can be made to be scheduled in control targe value, high to artificial requirement threshold, debugging is multiple
It is miscellaneous.
Existing minority Industry Control uses the industrial control unit (ICU) with self-setting function, this kind of regulator self-settling method base
It is that up-and-down boundary is set in the upper and lower of control targe value, that is, the tolerance interval of a sampled value is set, later to control on this
Object applies excitation, and collection value is compared judgement with the lower border value of tolerance interval, is subjected to when collection value is more than
When the lower border value of range, stop applying the excitation of control object, wait for system because inertia is close to desired value and finally falls after rise,
When collection value is less than the lower border value of tolerance interval, then control object is applied and is encouraged, after so repeating a cycle,
According to its corresponding output feature of the excitation of aforementioned application, corresponding pid control parameter is calculated.Above-mentioned industrial control unit (ICU)
Automatic setting method is provided with the tolerance interval of sampled value, and boundary's point whether controller judgement excitation applies is tolerance interval
Lower border value, sampled value is less than the lower border value of tolerance interval, applies to control object and encourage, and sampled value is more than acceptable
The lower border value of range stops the excitation to control object and applies, in this way, system output wave is easily in the lower boundary of tolerance interval
It is shaken back and forth at value, and the normal characteristic of system can not be captured, and in quick-reaction system（Such as be rapidly heated system）In, according to being
System inertia its output wave wave crest is easily unable to reach control targe value, in the case of this kind, according to encouraging its corresponding output feature
The pid control parameter of calculating is not accurate enough, in the another automatic setting method, judges again after first applying excitation to control object, controls
Output judges that, when system initial state value alreadys exceed desired value, this can not only make the week of Self-tuning System process prior to operating mode
Phase lengthens, and many operating modes do not allow overshoot excessive, and industrial accident easily occurs.
Invention content
The purpose of the present invention one is to provide a kind of automatic setting method of intelligent controller.
A kind of automatic setting method of intelligent controller, includes the following steps：
1）Determine system output objectives value SV and the deviation below desired value SV（SV-m）, beginning is adjusted, it will
Collection value PV and deviation（SV-m）It is compared judgement：If collection value PV is less than deviation（SV-m）, then send and open control
Output signal applies control object and encourages, and into the first step is adjusted, waiting system output wave rises；If collection value PV is more than
Deviation（SV-m）, then closing control output signal is sent, control object is not applied and is encouraged, waits for that system output wave declines, adopts
Set value PV is less than deviation（SV-m）When, it retransmits and opens control output signal, control object is applied and is encouraged, into adjusting the
One step, waiting system output wave rise；
2）When collection value PV is more than desired value SV, then closing control output signal is sent, control object is not applied and is swashed
It encourages, into second step is adjusted, waiting system output wave declines after reaching a wave crest；
3）When collection value PV is less than deviation（SV-m）When, then it sends and opens control output signal, control object is applied
Excitation, into third step is adjusted, waiting system output wave rises after reaching a trough；
4）When collection value PV is more than desired value SV, then closing control output signal is sent, control object is not applied and is swashed
It encourages, into the 4th step is adjusted, waiting system output wave drops to deviation after reaching wave crest again（SV-m）；
5）According to its corresponding output feature of the excitation of application, according to formula computing system pid control parameter, Self-tuning System knot
Beam.
Further, deviation（SV-m）In m be unit collection value.Such as in temperature control system, m is 1 DEG C, the side of adjusting
In method, m is used as control return difference, and to prevent system output wave during Self-tuning System from being shaken back near desired value, m is excessive, meter
The pid control parameter of calculation is not accurate enough, and m is too small, and the concussion of system output wave is severe, therefore, m is that unit collection value is preferable.
Further, record adjust system output wave corresponding valley PVmin and peak value PVmax in phase adjacent two step,
And corresponding this adjusts time t1 and t2 used in phase adjacent two step, formula based on when computing system pid control parameter
For P=（PVmax-PVmin）/ A, I=B × t1 × t2/（t1+ t2）, D=C × t1 × t2/（t1+ t2）, wherein A, B, C be respectively
Controlled system fixed coefficient.The formula parameter is few and calculates simple, another its accuracy in computation height.
Further, the valley PVmin and peak value PVmax of record are respectively the acquisition adjusted third step with adjust the 4th step
Value, accordingly, time t1 and t2 are respectively the time adjusted third step with adjust the 4th step whole process.Due to system output wave
Amplitude of vibration is usually adjusting span maximum of the third step with the 4th step, is calculated using the valley PVmin and peak value PVmax of two step
Pid control parameter is more accurate.
The purpose of the present invention two is to provide a kind of intelligent controller.
A kind of intelligent controller, including controller circuitry and its power supply, the controller circuitry include at control
Reason module and be electrically connected respectively with control process module key-press module, acquisition module, display module, memory, control it is defeated
Go out module, the first timer, the second timer and counter, the acquisition module acquisition industry signal simultaneously sends out the industry signal
It send to control process module, collection value PV is sent to display module and shown by control process module, and by the collection value
PV inputs desired value SV and deviation with the system by key-press module input（SV-m）Into comparing, according to comparison result, control
Processing module transmission dependent instruction, which is given, controls output module, and in tuning process, counter records adjust step number, the control process
Module sends control instruction to first timer and the second timing successively according to the step number of adjusting of counter records, described
First timer and the second timing record time t1 and t2, control process module used in phase of adjusting adjacent two step and will adopt respectively
Collect module and adjusts the valley PVmin and peak value PVmax of collected system output wave and correspondence in phase adjacent two step in above-mentioned
This is adjusted time t1 and t2 used in phase adjacent two step and is stored in memory respectively, and control process module in memory by reading phase
In adjacent two steps collected valley PVmin and peak value PVmax and this adjust time t1 and t2 used in phase adjacent two step,
Computing system pid control parameter.
The automatic setting method of intelligent controller of the present invention is provided with deviation in the lower section of control targe value SV（SV-
m）, for wherein m as control return difference, controller concludes that boundary's point whether excitation applies is respectively desired value SV and deviation（SV-
m）, and only it is not desired value SV or deviation（SV-m）, this effectively prevents system output waves during Self-tuning System to exist
Desired value SV or deviation（SV-m）Neighbouring concussion, and systematic sampling value PV is more than desired value SV, just stops to control object
Excitation apply, ensure that system output wave can reach control targe value SV always, the pid control parameter that controller calculates is more accurate
Really, the another automatic setting method is first to acquire working condition signal no matter system initial state, further according to collection value PV and partially
Difference（SV-m）Comparison, judgement determine whether to control object apply encourage, i.e., its operating mode judge prior to control output, have
Effect prevents the appearance of overshoot condition, avoids the generation of industrial accident.
Description of the drawings
Fig. 1 is the flow chart of the better embodiment of the automatic setting method of intelligent controller of the present invention；
Fig. 2 is the structural schematic diagram of intelligent controller of the present invention.
Specific implementation mode
The better embodiment of intelligent controller of the present invention and automatic setting method is made specifically below in conjunction with the accompanying drawings
It is bright：
As shown in Figure 1, the automatic setting method of intelligent controller of the present invention, includes the following steps：
1）Determine system output objectives value SV and the deviation below desired value SV in the control system of industrial temperature
Value（SV-1）, beginning is adjusted, by collection value PV and deviation（SV-1）It is compared judgement：If collection value PV is less than deviation
（SV-1）, then send and open control output signal, control object is applied and is encouraged, into the first step is adjusted, waiting system exports
Wave rises；If collection value PV is more than deviation（SV-1）, then closing control output signal is sent, control object is not applied and is swashed
It encourages, waits for that system output wave declines, collection value PV is less than deviation（SV-1）When, it retransmits and opens control output signal, to control
Object applies excitation, and into the first step is adjusted, waiting system output wave rises；
2）When collection value PV is more than desired value SV, then closing control output signal is sent, control object is not applied and is swashed
It encourages, into second step is adjusted, waiting system output wave declines after reaching a wave crest；
3）When collection value PV is less than deviation（SV-1）When, then it sends and opens control output signal, control object is applied
Excitation, into third step is adjusted, waiting system output wave rises after reaching a trough, and records and adjust third step system output
Time t1 used in the valley PVmin of wave and the step；
4）When collection value PV is more than desired value SV, then closing control output signal is sent, control object is not applied and is swashed
It encourages, into the 4th step is adjusted, waiting system output wave drops to deviation after reaching wave crest again（SV-1）, and record and adjust
Time t2 used in the peak value PVmax of 4th step system output wave and the step；
5）According to its corresponding output feature of the excitation of application, according to formula P=（PVmax-PVmin）/ A, I=B × t1 × t2/
（t1+ t2）, D=C × t1 × t2/（t1+ t2）Computing system pid control parameter, Self-tuning System terminate, and A, B, C distinguish wherein in formula
For controlled system fixed coefficient.
The automatic setting method of intelligent controller of the present invention is provided with deviation in the lower section of control targe value SV（SV-
m）, excellent that ground, m is taken to take unit collection value（That is m is 1）, it is used as control return difference, controller concludes boundary's point difference whether excitation applies
For desired value SV and deviation（SV-m）, and only it is not desired value SV or deviation（SV-m）, this effectively prevents certainly
System output wave is in desired value SV or deviation in tuning process（SV-m）Neighbouring concussion, and systematic sampling value PV is more than target
Value SV just stops the excitation to control object and applies, ensure that system output wave can reach control targe value SV, controller always
The pid control parameter of calculating is more acurrate, the another automatic setting method, is that first acquisition operating mode is believed no matter system initial state
Number, further according to collection value PV and deviation（SV-m）Comparison, judgement, which determines whether to apply control object, to encourage, i.e. its operating mode
Judge to export prior to control, effectively prevent the appearance of overshoot condition, avoid the generation of industrial accident.
The automatic setting method of intelligent controller of the present invention, when being used for the control system of industrial temperature, for being rapidly heated
System, system fixed coefficient A=0.33, B=3.2, C=0.8, for temperature elevation system at a slow speed, system fixed coefficient A=0.25, B=2, C
=2。
The present invention also provides a kind of intelligent controllers.
As shown in Fig. 2, intelligent controller of the present invention, including controller circuitry 10 and its power supply 20, the control
Device circuit 10 include control process module 1 and be electrically connected respectively with control process module 1 key-press module 2, acquisition module 3,
Display module 4, memory 5, control output module 6, the first timer 7, the second timer 8 and counter 9, the acquisition module
The industry signal is simultaneously sent to control process module 1 by the industrial signal of 3 acquisitions, and control process module 1 sends collection value PV
The system input desired value SV and deviation for being shown to display module 4, and being inputted by collection value PV and by key-press module 2
Value（SV-1）Into comparing, according to comparison result, control process module 1 sends dependent instruction and gives control output module 6, tuning process
In, the record of counter 9 adjusts step number, and the control process module 1 adjusts step number according to what counter 9 recorded, successively to described
First timer 7 and the second timing 8 send control instruction, and first timer, 7 and second timing 8 records respectively adjusts phase phase
Time t1 and t2 used in adjacent two steps, control process module 1 collect acquisition module 3 in above-mentioned adjust in phase adjacent two step
System output wave valley PVmin and peak value PVmax and corresponding this adjust time t1 and t2 used in phase adjacent two step
It is stored in memory 5 respectively, control process module 1 is by reading collected valley PVmin and peak value in adjacent two step in memory 5
PVmax and this adjust time t1 and t2, computing system pid control parameter used in phase adjacent two step.
Intelligent controller of the present invention, it is simple in structure using each basic and mature modules, it is at low cost, work is obtained automatically
Industry control parameter PID, control accuracy are high.
Claims (5)
1. a kind of automatic setting method of intelligent controller, it is characterised in that：Include the following steps：
1）Determine system output objectives value SV and the deviation below desired value SV（SV-m）, beginning is adjusted, will be acquired
Value PV and deviation（SV-m）It is compared judgement：If collection value PV is less than deviation（SV-m）, then send and open control output
Signal applies control object and encourages, and into the first step is adjusted, waiting system output wave rises；If collection value PV is more than deviation
Value（SV-m）, then closing control output signal is sent, control object is not applied and is encouraged, waits for that system output wave declines, collection value
PV is less than deviation（SV-m）When, it retransmits and opens control output signal, control object is applied and is encouraged, into adjusting first
Step, waiting system output wave rise；
2）When collection value PV is more than desired value SV, then closing control output signal is sent, control object is not applied and is encouraged, into
Enter and adjust second step, waiting system output wave declines after reaching a wave crest；
3）When collection value PV is less than deviation（SV-m）When, then it sends and opens control output signal, control object is applied and is encouraged,
Into third step is adjusted, waiting system output wave rises after reaching a trough；
4）When collection value PV is more than desired value SV, then closing control output signal is sent, control object is not applied and is encouraged, into
Enter to adjust the 4th step, waiting system output wave drops to deviation after reaching wave crest again（SV-m）；
5）According to its corresponding output feature of the excitation of application, according to formula computing system pid control parameter, Self-tuning System terminates,
In, m is desired value SV and the deviation below desired value SV（SV-m）Between control return difference.
2. the automatic setting method of intelligent controller according to claim 1, it is characterised in that：Deviation（SV-m）In
M is unit collection value.
3. the automatic setting method of intelligent controller according to claim 1, it is characterised in that：Record adjusts the phase adjacent two
When the corresponding valley PVmin and peak value PVmax of system output wave and corresponding this are adjusted used in phase adjacent two step in step
Between t1 and t2, formula based on when computing system pid control parameter be P=（PVmax-PVmin）/ A, I=B × t1 × t2/（t1
+ t2）, D=C × t1 × t2/（t1+ t2）, wherein A, B, C is respectively controlled system fixed coefficient.
4. the automatic setting method of intelligent controller according to claim 3, it is characterised in that：The valley PVmin of record
It is respectively to adjust third step and adjust the collection value of the 4th step with peak value PVmax, accordingly, time t1 and t2 are respectively to adjust the
Three steps and the time for adjusting the 4th step whole process.
5. a kind of intelligent controller, for realizing the intelligent controller described in any one of claim 1 to claim 3
Automatic setting method, including controller circuitry and its power supply, it is characterised in that：The controller circuitry includes control process
Module and the key-press module being electrically connected respectively with control process module, acquisition module, display module, memory, control output
Module, the first timer, the second timer and counter, the acquisition module acquisition industry signal simultaneously send the industry signal
To control process module, collection value PV is sent to display module and shown by control process module, and by collection value PV
With the system input desired value SV and deviation inputted by key-press module（SV-m）Into comparing, according to comparison result, at control
Reason module transmission dependent instruction, which is given, controls output module, and in tuning process, counter records adjust step number, the control process mould
Root tuber sends control instruction to first timer and the second timing successively according to the step number of adjusting of counter records, and described the
One timer and the second timing record time t1 and t2 used in phase of adjusting adjacent two step respectively, and control process module will acquire
Module in it is above-mentioned adjust in phase adjacent two step the valley PVmin and peak value PVmax of collected system output wave and it is corresponding should
It adjusts time t1 and t2 used in phase adjacent two step and is stored in memory respectively, control process module is adjacent by being read in memory
In two steps collected valley PVmin and peak value PVmax and this adjust time t1 and t2 used in phase adjacent two step, count
Calculation system pid control parameter.
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106227072B (en) * | 2016-08-31 | 2018-08-10 | 福建顺昌虹润精密仪器有限公司 | A kind of Intelligence Regulator and its adjusting method |
| CN109062033B (en) * | 2018-10-19 | 2021-08-24 | 宁波市机电工业研究设计院有限公司 | Parameter self-tuning method of PID system |
| CN109828456B (en) * | 2019-03-04 | 2022-02-01 | 沈阳华控科技发展有限公司 | Self-adaptive PID control method |
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| EP2447792A1 (en) * | 2005-09-19 | 2012-05-02 | Cleveland State University | Controllers, observer, and applications thereof |
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